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Twido programmable controller 0

TwidoSuite programming software

Presentation
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TwidoSuite programming software is a user-friendly tool designed to help you

develop projects created on Twido controllers. It provides seamless continuity for
applications created using TwidoSoft.

TwidoSuite is easy-to-use and takes little or no time to learn how to use.

Its primary aim is to reduce project development time significantly by simplifying all
necessary interventions.
TwidoSuite is the first software tool:
b Organized according to the project development cycle. Navigation through the
software is so easy that it becomes second nature.
b Offering an interface that is resolutely modern, pleasant and intuitive, so that
getting started is:
v More user-friendly
v Faster - the simplified interface helps you find the information you need in a matter
of seconds
v More efficient, thanks to the numerous tools and tips on offer

TwidoSuite software runs with the following minimum configurations:

b Microsoft Windows® 2000, Microsoft Windows® XP, Service Pack 2 recommended
b 466 MHz Pentium type processor, hard disk with 100 Mb space available and
128 Mb of RAM
b Minimum screen resolution of 1024 x 768 pixels

Connecting a PC to the controller

There are several ways of connecting a PC to controllers during the programming,
debug and maintenance phases.

Link via connection cables

The PC is connected to the Twido bases via:
b A USB port using the USB/RS 485 converter TSX CUSB 485 and the 2.5 m
Mini-DIN/RJ45 cable TSX CRJMD25
b An RS 232 serial port via the 2.5 m 9-way Mini-DIN/SUB-D multifunction cable
TSX PCX 1031

Link via modems

Modems are a very practical solution avoiding the need for on-site attendance for
certain maintenance operations.
The modem connected to the Twido controller must be declared in the hardware
configuration. It will be initialized by the controller automatically (Hayes initialization
string).
At the PC end, the TwidoSuite software will associate a special modem connection
that will be memorized in the project (including the telephone number to use), see
page 10012/5.

Ethernet network link

Thanks to its embedded Ethernet port, the Twido compact controller TWD LCAE
40DRF can be connected to a PC using the Ethernet network and the Modbus
TCP/IP protocol.
The TwidoPort Plug&Play interface module 499 TWD 01100 is extremely easy to
use, and can be used to incorporate all Twido controllers (firmware version u 3.0) into
an Ethernet TCP/IP network.

Bluetooth wireless link

The ideal solution during the debug phase, the Bluetooth wireless link provides the
convenience of total freedom of movement within a radius of 10 m around the Twido
controller.

Being self-powered, the Modbus - Bluetooth adaptor VW3 A8 114 simply has to be
connected to the Twido controller. If the PC does not have Bluetooth technology, the
USB - Bluetooth adaptor VW3 A8 115 should be used.

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TwidoSuite programming software

Navigation, management, description

Instinctive, visual navigation

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Navigation within TwidoSuite is intuitive and highly visual.

Presentation is optimized in such a way that selecting the development stage of the
desired project makes the appropriate tools available.

The environment ensures nothing is overlooked, by suggesting the tasks to be

performed throughout the project development cycle.

The workspace has been streamlined so that only that which is necessary and
relevant to the current task is featured, without any superfluous information.

An area can be used to activate additional tools in a matter of seconds.

The basic functions are permanently accessible for quick and easy navigation and
access to information.

Project management
The “Project management” function is used to:
b Create a new project with the option to enter data by means of a form and attach
a photo
b Open a project from the PC (hard disk, CD, USB key, etc.)
b Review a project from a Twido controller.
There is quick access to the most recently-used projects.
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Description of the architecture

This function is used to:
b Define the Twido hardware used in the project (controller, I/O extension,
options, etc.)
b Describe the controller environment, such as, for example:
v The HMI terminal connected
v The devices connected to the CANopen network
v Etc.

This hardware context for the project is essential for explaining as clearly as possible
the composition of the control system managed by the Twido controller.

A highly visual “Catalog” can be used to select the appropriate product including:
b The product reference
b The product description
b A photo of the product

A graphic editor can be used to assemble the various elements easily by a simple
drag & drop.

The “Parts list” tool lists all the products used and can retrieve this information in
Excel format so that an order for equipment can be prepared more quickly, for
example.

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TwidoSuite programming software

Configuration, programming, debugging

Configuration
The configuration stage is used to define the elements that will be available for
programming. There are three types of configuration:
b Hardware configuration, which defines, for example, the type of sensor connected
to an analog extension module input or even the temperature scale to be used (°C or
°F)
b Data configuration, which is used to set timer parameters and define the constants
and the number of memory words to be used
b Behavior configuration, which specifies the start-up conditions for the application
(automatically on controller power-up, or dependent on the state of an input), the
scan mode, etc.

Programming
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Programming is an essential step, and one which has been carefully designed to be
as efficient as possible. The program can now therefore be organized into “Sections”,
which simplify reading and navigating through the program.
These sections can be programmed in LIST or LADDER language.

For enhanced productivity, a new Ladder Editor helps create the program in record
time. Use of the “Data Browser” tool replaces the often tedious task of entering a
memory address with a simple drag & drop.

Debugging
Often performed in difficult conditions, debugging is now much improved.
The connection task is guided step-by-step, so that all the actions performed by
TwidoSuite (choice of connection, test of the connected controller, selection of the
transfer performed) can be followed.
The program is then animated, allowing modifications to be made without stopping
the controller (RUN).
Animation tables display the memory objects in a user-friendly way.
A mini floating display panel can be used to control actions on the controller.
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Documentation
Because a printed dossier of the created project is still a crucial element, it is possible
to configure some project elements for printing, define the page layout to suit the
user's requirements, and then launch printing.
A preview function avoids wasted print jobs.

Generating an HTML folder allows the documentation to be reviewed in Microsoft

Word 2000 in order to add to it and create a maintenance manual, for example.

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TwidoSuite programming software

Counting

Macros for Modbus serial link and CANopen bus

In order to make programming easier, a system of macros simplifies writing of the
program and improves understanding of the code. This system is presented
according to different families of equipment - generic equipment, variable speed
drives (ATV 31, ATV 61, ATV 71 and Lexium 05), motor starters (TeSys U) or
distributed I/O (OTB).
For each family, a list of macros is suggested to facilitate exchanges between the
Twido programmable controller and the device connected to the Modbus serial link
or the CANopen bus. These macros are in the form of configurable families to
describe the network characteristics of the device involved (Modbus network or
CANopen bus, slave address, etc.). The instances thus configured can be run within
the program.
For each macro, symbols for objects used can be generated automatically in order
to provide further assistance in terms of readability of the application. For each macro
inserted in the program, TwidoSuite software automatically generates code in
Instruction List language, encapsulated in a subroutine. The macro's code call line is
compiled by the TwidoSuite software by calling a subroutine.
After calling up a macro, the code generated in Instruction List language can be
displayed. No modifications to the content of subroutines generated in this way are
allowed.
This macro system requires a version u V3.0 of the Twido programmable controller
firmware.

Counter function
The counter function allows the controller to count a large number of pulses, within one
program scan cycle. Using its integrated 16-bit fast counters, the Twido controller can
count up to 65,535 pulses generated by 24 V c sensors (with 32-bit counters, up to
4,294,967,295 pulses, for software version u 2.5). It can compare the current counter
value with a preset value and trigger an output when the preset value is reached. This
type of counter function can be used for counting parts or events, or for measuring
length or position.
The number of integrated fast counters depends on the type of base controller:

Base controller Compact Compact Modular Extreme

type LCpA 10/16/24 DRF LCAp 40DRF LMDA 20DpK/20DRT LEDCK1
TWD LMDA 40DpK
VFC counter 1 2 2 –
(20 kHz)
FC counter 3 4 2 1 (10 kHz)
(5 kHz)

Very fast counter - VFC (20 kHz)

The very fast counter (VFC) is an up/down counter with the possibility of auxiliary inputs.
The counter is accessed by means of the %VFCi function block programmed using
TwidoSuite. The %VFCi function block can be used to execute one of the following five
functions, all with a maximum frequency of 20 kHz:
b Up/Down counter
b Up/Down counter with detection of running direction
b Single up counter
b Single down counter
b Frequency meter
The pulses to be counted may come from an incremental encoder or from two proximity
sensors (up/down counting) connected to inputs I0 and I1 of Twido base controllers.

Fast counter - FC (5 or 10 kHz)

The fast counter is available for up or down counting of pulses (rising edges) on the
discrete inputs of Twido base controllers at a maximum frequency of 5 kHz. The up
and down counters are accessed by means of the %FCi function block programmed
using TwidoSuite. Using the configuration editor, the user must select either up or
down counting mode for each function block, define the initial value of the preset
%FCi.P (1...65,535, 1...4,294,967,295 for software version u 2.5) and select the
attribute "adjustable" in order to be able to dynamically change the preset value
%FCi.P and the current value %FCi.V.
Within function block %FCi, the current value %FCi.V varies by:
b Incrementing the value 0 to the preset value %FCi.P in up counter mode
b Decrementing the preset value %FCi.P to 0 in down counter mode

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Position control, processing, PID

Position control
Twido compact (TWD LCAp 40DRF), modular and Extreme controllers offer two
software positioning functions (frequency 7 kHz) (1) which can be used, for example,
for controlling stepper motors:
b PLS (pulse) function - pulse generator output
b PWM function - pulse width modulation output. This function can also be used for
applications with light or sound intensity control (dimmer or volume control function).

PLS function (pulse, 7 kHz) (1)

The PLS function block generates pulses of fixed ratio. In some cases, the frequency
can be fixed and in others it is variable (as in control of slopes when driving a stepper
motor). The %PLS function block can be programmed to generate a specific number
of pulses.
%PLS function blocks are assigned to outputs %Q0.0.0 or %Q0.0.1 on Twido base
controllers.
The pulse generator signal has a variable period, but with a constant duty cycle
which establishes an ON to OFF ratio of 50% of the period (see illustration opposite).

PWM function (7 kHz) (1)

The PWM function block generates pulses of fixed frequency, with a variable ratio between
the high state and low state of the output signal. The ON to OFF duration ratio is a dynamic
variable called %PWM.R, with a range from 0% to 100%.
PWM function blocks are assigned to outputs %Q0.0.0 or %Q0.00.1 on a base
controller. The PWM function can be used to control analog module outputs.
The user-defined %PWM function block generates a signal on output %Q0.0.0 or %Q0.0.1
of Twido base controllers (see illustration opposite).

Event processing
b Event management by the application.
b 2 priority levels
b 3 types of source:
v 4 event sources based on the basic inputs
v 4 event sources based on the very fast threshold counter (VF counter)
v 1 event source based on the periodic event (Timer)
b Command masked and enabled by the system bits
b Each event executes a single user logic subroutine
b Updating of “reflex” outputs

PID
b 14 PID programming loops
b “Autotuning” algorithm (for software version u 2.5).
b Analog/PWM output
b Linear conversion of measuring input
b 2 alarm levels (high and low) on the “measurement”
b Command output limits
b Direct and inverse action
b 2 animated modes for PID: configuration mode, debug mode

Online modification
This application can be debugged and adjusted in online mode. With this mode, the
application program contained in the PC memory is identical to that in the controller
memory. Program modifications can therefore be made directly in the Twido
controller.

(1) 1 or 5 kHz maximum with the Twido Extreme controller (see page 41009/3).

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References
TwidoSuite bilingual software packages are for use on PCs (1) with Windows 2000
or Windows XP operating systems.
The software product includes:
b A CD-ROM containing the TwidoSuite bilingual software (English and French) (2)
and the hardware and software setup documentation
b Hard copy of the quick start guide

TwidoSuite software
Description Programming languages Composition Reference Weight
kg
TwidoSuite Ladder 1 CD-ROM TWD BTF U10EF –
version V1.0 Instruction List
English/French
(2)

TwidoAdjust software for Pocket PC2003

TwidoAdjust Multilingual 1 CD-ROM TWD SMD 1002 V30M –
software 1 CD-ROM TWD SMD 1004 V30M –
packages 1 Bluetooth
(3) gateway
VW3 A8114

Components for connecting a PC to the controller

Description Use Length Reference Weight
From To kg
Connection Compact and Serial port on 2.5 m TSX PCX 1031 0.170
cables modular PC with
Twido TwidoSuite
TSX PCX 1031
controllers software
(Mini-DIN) installed
(4) RJ 45 on 2.5 m TSX CRJMD25 0.150
USB/RS 485
converter (5)
USB/RS 485 Cable USB port on 0.4 m TSX CUSB 485 0.144
converter TSX CRJMD25 PC (4) with
(RJ45) TwidoSuite
software
TSX CUSB 485 installed
Bluetooth wireless link
Description Use Reference Weight
kg
Bluetooth Range 10 m (class 2). Comprising: VW3 A8114 0.155
gateway - 1 Bluetooth gateway with one RJ45
- 1 cable (length 0.1 m) with two RJ45s
- 1 cable (length 0.1 m) with one RJ45
and a mini-DIN for TwidoSuite software
- 1 RJ45/9-way SUB-D adaptor
VW3 A8114
Bluetooth Range 10 m (class 2) VW3 A8115 0.300
gateway Required for a PC without Bluetooth
for PC technology
Connection on PC USB port

Ethernet network interface

Description Characteristics Reference Weight
kg
TwidoPort 10/100 Mbps. Auto MDIX function 499 TWD 01100 0.200
interface Ethernet network connection on RJ45
module connector
for all bases Supplied with connection cable for Twido
version u 3.0 base TWD XCA RJP03P

Documentation
Description Language Reference Weight
kg
499 TWD 01100 TwidoSuite English-French (supplied with the TWD BTF U10EF –
quick start guide TWD BTF U10EF software)
(hard copy) Also available in English-Spanish,
English-Italian and English-German (2)
(1) Minimum configurations, see page 41008/2.
(2) English-French. For other versions, replace EF at the end of the reference with
ES: English-Spanish, ET: English-Italian, ED: English-German or EC: English-Simplified
Chinese.
(3) Compatible with Pocket PC2003 or Windows Mobile 5.0 operating systems.
(4) For connection of Twido Extreme, see page 41009/9.
(5) To connect the Twido controller to the USB port of a PC, you need to add two other product
references: cable TSX CRJMD25 and USB/RS 485 converter TSX CUSB 485.

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